# Closed-loop planning on CARLA Bench2Drive (leaderboard) Source: [Closed-loop planning on CARLA Bench2Drive (leaderboard)]() Collection index: [llms.txt]() Data updated: 2026-03-17T11:13:47.065Z Evaluation of closed-loop planning performance using the CARLA Bench2Drive dataset leaderboard configuration, reporting metrics like Driving Score (DS) and Success Rate (SR). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Closed-loop planning | | Dataset (including any stated split) | CARLA Bench2Drive (leaderboard) | | Metric | Driving Score (DS) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 17 of 17 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Driving Score (DS)](): Higher is better; unit: PERCENT. - [Success Rate (SR)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Driving Score (DS) | Result date | Report paper | | --- | --- | --- | --- | | AutoMoT | 87.34 | Not recorded | 69b8e0590636e5bf4afbef3f | | SimLingo | 85.07 | Not recorded | 69b8e0590636e5bf4afbef3f | | TransFuser++ | 84.21 | Not recorded | 69b8e0590636e5bf4afbef3f | | AutoVLA | 78.84 | Not recorded | 69b8e0590636e5bf4afbef3f | | MindDrive | 78.04 | Not recorded | 69b8e0590636e5bf4afbef3f | | SpaceDrive+ | 78.02 | Not recorded | 69b8e0590636e5bf4afbef3f | | ORION | 77.74 | Not recorded | 69b8e0590636e5bf4afbef3f | | DiffusionDrive | 77.68 | Not recorded | 69b8e0590636e5bf4afbef3f | | DriveMoE | 74.22 | Not recorded | 69b8e0590636e5bf4afbef3f | | Raw2Drive | 71.36 | Not recorded | 69b8e0590636e5bf4afbef3f | | Recogdrive | 71.36 | Not recorded | 69b8e0590636e5bf4afbef3f | | DriveAdapter | 64.22 | Not recorded | 69b8e0590636e5bf4afbef3f | | ReasonPlan | 64.01 | Not recorded | 69b8e0590636e5bf4afbef3f | | DriveTransformer-Large | 63.46 | Not recorded | 69b8e0590636e5bf4afbef3f | | TCP-traj | 59.9 | Not recorded | 69b8e0590636e5bf4afbef3f | | UniAD-Base | 45.81 | Not recorded | 69b8e0590636e5bf4afbef3f | | MomAD | 44.54 | Not recorded | 69b8e0590636e5bf4afbef3f | ### AutoMoT Driving Score (DS): 87.34. Result ID: 69b9375547f34ce924a2d677. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C&L","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### SimLingo Driving Score (DS): 85.07. Result ID: 69b9375547f34ce924a2d676. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### TransFuser++ Driving Score (DS): 84.21. Result ID: 69b9375547f34ce924a2d66e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C&L","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### AutoVLA Driving Score (DS): 78.84. Result ID: 69b9375547f34ce924a2d675. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### MindDrive Driving Score (DS): 78.04. Result ID: 69b9375547f34ce924a2d674. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"true","Generative Planner":"true"}. This record does not assert independent reproduction. ### SpaceDrive+ Driving Score (DS): 78.02. Result ID: 69b9375547f34ce924a2d673. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### ORION Driving Score (DS): 77.74. Result ID: 69b9375547f34ce924a2d672. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"true","Generative Planner":"true"}. This record does not assert independent reproduction. ### DiffusionDrive Driving Score (DS): 77.68. Result ID: 69b9375547f34ce924a2d66d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"PDM-Lite","Modality":"C&L","VLM":"false","Generative Planner":"true"}. This record does not assert independent reproduction. ### DriveMoE Driving Score (DS): 74.22. Result ID: 69b9375547f34ce924a2d671. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### Raw2Drive Driving Score (DS): 71.36. Result ID: 69b9375547f34ce924a2d66c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### Recogdrive Driving Score (DS): 71.36. Result ID: 69b9375547f34ce924a2d670. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"true","Generative Planner":"true"}. This record does not assert independent reproduction. ### DriveAdapter Driving Score (DS): 64.22. Result ID: 69b9375547f34ce924a2d66b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C&L","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### ReasonPlan Driving Score (DS): 64.01. Result ID: 69b9375547f34ce924a2d66f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"true","Generative Planner":"false"}. This record does not assert independent reproduction. ### DriveTransformer-Large Driving Score (DS): 63.46. Result ID: 69b9375547f34ce924a2d66a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### TCP-traj Driving Score (DS): 59.9. Result ID: 69b9375547f34ce924a2d669. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### UniAD-Base Driving Score (DS): 45.81. Result ID: 69b9375547f34ce924a2d668. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. ### MomAD Driving Score (DS): 44.54. Result ID: 69b9375547f34ce924a2d667. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Expert":"Think2Drive","Modality":"C","VLM":"false","Generative Planner":"false"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.